基于固定时间扰动观测器的水面无人艇精确编队控制
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大连海事大学

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TP273

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Fixed-time Disturbance Observer-Based Accurate Formation Control of Unmanned Surface Vehicles
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Dalian Maritime University

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    摘要:

    在水面无人艇 (USV) 编队控制中, 控制效果易受系统初始状态和内外部扰动的影响. 为此本文研究了一 类具有未知干扰的USV编队控制和扰动处理问题, 结合固定时间扰动观测器提出了一种领航-跟随编队控制方法. 首先, 提出了一种基于固定时间滑模的跟踪控制(FTSM-TC)策略, 在固定时间内保证领航艇快速跟踪期望轨 迹; 其次, 为处理内外部未知干扰, 设计了固定时间扰动观测器(FTDO), 从而保证在固定时间内对编队系统中 的未建模动态和外部复杂干扰进行精确辨识. 所提出的基于FTDO的编队控制(FTDO-FC)策略, 使编队控制系 统在固定时间内收敛并保持稳定的期望队形; 仿真结果表明, 所设计的控制方法有效解决存在复杂未知扰动情况 下的USV编队控制问题, 且收敛时间与系统初始状态无关.

    Abstract:

    In the formation control of unmanned surface vehicle (USV), the control performance is easily affected by the initial state of the system and unknown disturbances. In this paper, a leader-follower formation control strategy, which combines with the fixed-time disturbance observer, is proposed to deal with the problems of USV formation control and disturbance rejection. First of all, a fixed-time sliding mode tracking control (FTSM-TC) strategy is proposed to ensure that the leader can track the desired trajectory within a fixed time quickly; secondly, a fixed-time disturbance observer (FTDO) is designed to deal with unknown disturbances, which ensures that unmodeled dynamics and external disturbance of the formation system can be accurately estimated within a fixed time. The proposed FTDO-based formation control (FTDO-FC) strategy enables that the formation control system can converge in a fixed time and maintain a stable desired formation. Simulation results show that the proposed control strategy can effectively handle unknown disturbances, and the convergence time is independent of the initial state of the system by the proposed control strategy.

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  • 收稿日期:2021-07-12
  • 最后修改日期:2021-09-28
  • 录用日期:2021-10-09
  • 在线发布日期: 2021-11-01
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